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pith:N34YPWXN

pith:2026:N34YPWXN3IY26NJQOGM3EEWVJG
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Energy-Efficient Quadruped Locomotion with Compliant Feet

(2) Robert Bosch Centre for Cyber Physical Systems Bangalore India, 3) ((1) Indian Institute of Science Bangalore India, (3) Ahmedabad University Ahmedabad India), Ashitava Ghosal (1, Pramod Pal (1), Shishir Kolathaya (2)

Quadruped robots save about 17% energy with intermediate foot compliance versus rigid or overly soft feet.

arxiv:2605.14411 v1 · 2026-05-14 · cs.RO · cs.AI

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Record completeness

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4 Citations open
5 Replications open
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Claims

C1strongest claim

In experiments done on a developed quadruped, the energy consumption for the intermediate stiffness spring is lower by ~17% when compared to a very stiff or a very flexible spring incorporated in the feet, with similar trends appearing in the simulation results.

C2weakest assumption

That the reinforcement learning policies trained for each stiffness value produce comparable locomotion gaits so that the measured energy difference can be attributed primarily to foot compliance rather than to differences in controller behavior or gait selection.

C3one line summary

Tuned foot compliance in quadruped robots lowers locomotion energy consumption by roughly 17 percent relative to rigid or overly soft designs.

References

54 extracted · 54 resolved · 1 Pith anchors

[1] Y. Fan, Z. Pei, C. Wang, M. Li, Z. Tang, Q. Liu, A review of quadruped robots: Structure, control, and autonomous motion, Advanced Intelli- gent Systems 6 (6) (2024) 2300783 2024
[2] Learning robust perceptive locomotion for quadrupedal robots in the wild 2022 · doi:10.1126/scirobotics.abk2822
[3] S. Seok, A. Wang, M. Y. Chuah, D. Otten, J. Lang, S. Kim, Design principles for highly efficient quadrupeds and implementation on the mit cheetah robot, in: Proceedings of the IEEE International Confere 2013
[4] C. Gehring, P. Fankhauser, L. Isler, R. Diethelm, S. Bachmann, M. Potz, L. Gerstenberg, M. Hutter, Anymal in the field: Solving industrial in- spection of an offshore hvdc platform with a quadrupedal ro 2021
[5] B. Ghinoiu, L. Vldreanu, A. Pop, V. Vldreanu, R. I. Munteanu, L. Sang, J. Niu, O. Melinte, M. Rdulescu, From cobot to dog intelligent robot go2 and humanoid intelligent robots g1/h1: Educational and e 2024

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Receipt and verification
First computed 2026-05-17T23:39:07.362546Z
Builder pith-number-builder-2026-05-17-v1
Signature Pith Ed25519 (pith-v1-2026-05) · public key
Schema pith-number/v1.0

Canonical hash

6ef987daedda31af35307199b212d54990a8f48b3571511ba343f6953dbedc5d

Aliases

arxiv: 2605.14411 · arxiv_version: 2605.14411v1 · doi: 10.48550/arxiv.2605.14411 · pith_short_12: N34YPWXN3IY2 · pith_short_16: N34YPWXN3IY26NJQ · pith_short_8: N34YPWXN
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curl -sH 'Accept: application/ld+json' https://pith.science/pith/N34YPWXN3IY26NJQOGM3EEWVJG \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
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Canonical record JSON 
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